| Line |
Branch |
Exec |
Source |
| 1 |
|
|
// |
| 2 |
|
|
// Copyright (c) 2020 INRIA |
| 3 |
|
|
// |
| 4 |
|
|
|
| 5 |
|
|
#include <iostream> |
| 6 |
|
|
|
| 7 |
|
|
#include <boost/test/unit_test.hpp> |
| 8 |
|
|
#include <boost/utility/binary.hpp> |
| 9 |
|
|
|
| 10 |
|
|
#include "pinocchio/algorithm/utils/force.hpp" |
| 11 |
|
|
|
| 12 |
|
|
using namespace pinocchio; |
| 13 |
|
|
|
| 14 |
|
|
BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
| 15 |
|
|
|
| 16 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_force) |
| 17 |
|
|
{ |
| 18 |
|
|
using namespace pinocchio; |
| 19 |
|
|
|
| 20 |
|
✗ |
const SE3 placement = SE3::Random(); |
| 21 |
|
✗ |
const Force f_in = Force::Random(); |
| 22 |
|
|
|
| 23 |
|
|
// test case 1-2-3 |
| 24 |
|
|
{ |
| 25 |
|
✗ |
BOOST_CHECK(changeReferenceFrame(placement, f_in, LOCAL, LOCAL) == f_in); |
| 26 |
|
✗ |
BOOST_CHECK(changeReferenceFrame(placement, f_in, WORLD, WORLD) == f_in); |
| 27 |
|
✗ |
BOOST_CHECK( |
| 28 |
|
|
changeReferenceFrame(placement, f_in, LOCAL_WORLD_ALIGNED, LOCAL_WORLD_ALIGNED) == f_in); |
| 29 |
|
|
} |
| 30 |
|
|
|
| 31 |
|
✗ |
const ReferenceFrame all_choices[3] = {LOCAL, WORLD, LOCAL_WORLD_ALIGNED}; |
| 32 |
|
✗ |
for (int i = 0; i < 3; ++i) |
| 33 |
|
✗ |
for (int j = 0; j < 3; ++j) |
| 34 |
|
✗ |
BOOST_CHECK( |
| 35 |
|
|
changeReferenceFrame(SE3::Identity(), f_in, all_choices[i], all_choices[j]) == f_in); |
| 36 |
|
|
|
| 37 |
|
|
// LOCAL/WORLD and WORLD/LOCAL |
| 38 |
|
|
{ |
| 39 |
|
✗ |
Force f_sol_w = placement.act(f_in); |
| 40 |
|
✗ |
BOOST_CHECK(changeReferenceFrame(placement, f_in, LOCAL, WORLD) == f_sol_w); |
| 41 |
|
✗ |
BOOST_CHECK(changeReferenceFrame(placement, f_sol_w, WORLD, LOCAL).isApprox(f_in)); |
| 42 |
|
|
} |
| 43 |
|
|
|
| 44 |
|
|
// LOCAL/LOCAL_WORLD_ALIGNED and LOCAL_WORLD_ALIGNED/LOCAL |
| 45 |
|
|
{ |
| 46 |
|
✗ |
const SE3 placement_LWA(placement.rotation(), SE3::Vector3::Zero()); |
| 47 |
|
✗ |
Force f_sol_lwa = placement_LWA.act(f_in); |
| 48 |
|
✗ |
BOOST_CHECK(changeReferenceFrame(placement, f_in, LOCAL, LOCAL_WORLD_ALIGNED) == f_sol_lwa); |
| 49 |
|
✗ |
BOOST_CHECK( |
| 50 |
|
|
changeReferenceFrame(placement, f_sol_lwa, LOCAL_WORLD_ALIGNED, LOCAL).isApprox(f_in)); |
| 51 |
|
|
} |
| 52 |
|
|
|
| 53 |
|
|
// WORLD/LOCAL_WORLD_ALIGNED and LOCAL_WORLD_ALIGNED/WORLD |
| 54 |
|
|
{ |
| 55 |
|
✗ |
const SE3 placement_W(SE3::Matrix3::Identity(), placement.translation()); |
| 56 |
|
✗ |
Force f_sol_w = placement_W.act(f_in); |
| 57 |
|
✗ |
BOOST_CHECK(changeReferenceFrame(placement, f_in, LOCAL_WORLD_ALIGNED, WORLD) == f_sol_w); |
| 58 |
|
✗ |
BOOST_CHECK( |
| 59 |
|
|
changeReferenceFrame(placement, f_sol_w, WORLD, LOCAL_WORLD_ALIGNED).isApprox(f_in)); |
| 60 |
|
|
} |
| 61 |
|
|
} |
| 62 |
|
|
|
| 63 |
|
|
BOOST_AUTO_TEST_SUITE_END() |
| 64 |
|
|
|